CN113001142B - Automatic double-mechanical-arm assembling system for large-scale block optical assembly - Google Patents

Automatic double-mechanical-arm assembling system for large-scale block optical assembly Download PDF

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CN113001142B
CN113001142B CN202110292820.2A CN202110292820A CN113001142B CN 113001142 B CN113001142 B CN 113001142B CN 202110292820 A CN202110292820 A CN 202110292820A CN 113001142 B CN113001142 B CN 113001142B
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mechanical
end effector
assembly
workpiece
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CN113001142A (en
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李沛
吴杰
肖正航
吕宠
白邈
肖越
武文晋
隋请
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Beijing Institute of Space Research Mechanical and Electricity
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Beijing Institute of Space Research Mechanical and Electricity
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/04—Viewing devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
    • B25J9/0087—Dual arms
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects

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  • Mechanical Engineering (AREA)
  • Robotics (AREA)
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  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Manipulator (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

A double-mechanical-arm automatic assembly system for a large-scale block optical component belongs to the technical field of assembly of large-scale block optical components. According to the invention, on the basis that the traditional mechanical arm only has an assembling function in the assembly of a single mechanical arm or two mechanical arms, an interactive matching mode of the two mechanical arms is added, one mechanical arm carries a binocular measuring camera in a photogrammetry subsystem through a quick-change device to carry out real-time identification and measurement on the whole assembly process, and the other mechanical arm carries a workpiece end effector through the quick-change device to carry out workpiece grabbing and assembly according to the measurement data obtained by the binocular camera. The two mechanical arms can exchange the end effector through the quick change device, so that the function exchange of the two mechanical arms is realized, and the requirements of wider and larger visual identification and assembly range are met.

Description

Automatic double-mechanical-arm assembling system for large-scale block optical assembly
Technical Field
The invention relates to a double-mechanical-arm automatic assembly system for a large-scale block optical component, and belongs to the technical field of assembly of large-scale block optical components.
Background
With the requirement of the space camera on the resolution ratio becoming higher and higher, the traditional integral main mirror with the super-large aperture has the defects of large processing difficulty, difficult light weight and high emission cost becoming more and more obvious, and the future development requirements can not be met. Accordingly, a tileable block optical assembly scheme is proposed.
At present, the spliced and blocked optical component is still completed by adopting a manual assembly mode, and the mode can be suitable for optical components with small specification, light weight and small number of blocked mirrors. However, as the size and the weight of a single block mirror in the block optical assembly are larger and larger, the number of the block mirrors is larger and larger, and the block mirrors are assembled only by a manual mode, so that the safety, the reliability and the assembly precision consistency of products cannot be guaranteed.
Disclosure of Invention
The technical problem solved by the invention is as follows: the automatic assembling system is used for automatically assembling the large-scale blocked optical component, replaces a manual assembling mode, and finally improves the safety, reliability and assembling precision consistency of products.
The technical solution of the invention is as follows: a double-mechanical-arm automatic assembly system for a large-scale blocked optical component comprises a double-mechanical-arm subsystem, a photogrammetry subsystem, a central control subsystem and a three-dimensional reconstruction virtual display subsystem;
the double mechanical arm subsystems carry binocular measuring cameras in the photogrammetry subsystem through the quick-change device to perform real-time identification and measurement on the whole assembly process on one hand, and carry workpiece end effectors through the quick-change device to perform grabbing and assembly of workpieces according to measurement data obtained by the binocular cameras on the other hand;
the photogrammetry subsystem is used for establishing three-dimensional space of an assembly scene, workpiece grabbing and assembly pose relations and identifying and measuring workpieces in real time in the assembly process;
the central control subsystem is used for controlling the two mechanical arm subsystems and the photogrammetry subsystem to carry out cooperative work, and besides communication and data interaction with hardware equipment in the subsystems, mechanical arm movement and force control data are required to be transmitted to the three-dimensional reconstruction virtual display subsystem in real time;
the three-dimensional reconstruction virtual display subsystem is used for virtually and synchronously displaying the assembly process of the product, and driving the full scene three-dimensional model according to the data from the assembly robot subsystem and the photogrammetry subsystem according to the preset full scene element three-dimensional model, so that the real-time display of the assembly process and the measured data is realized.
Furthermore, the double-mechanical-arm subsystem comprises double mechanical arms, a workpiece end effector, a photogrammetry end effector, a movable quick-change trolley and a goods shelf; the two mechanical arms are positioned on two sides of the main frame of the blocking optical component, and the specific positions of the two mechanical arms, the movable quick-change trolley and the goods shelf on two sides of the main frame are determined according to the envelope of the blocking optical component and the operating range of the two mechanical arms, so that the mutual positions are ensured not to interfere.
Furthermore, one of the two mechanical arms carries a binocular measuring camera in the photogrammetry subsystem through a quick-change device to carry out real-time identification and measurement on the whole assembly process, and the other mechanical arm carries a workpiece end effector through the quick-change device to carry out grabbing and assembly of the workpiece according to the measurement data obtained by the binocular camera; the two mechanical arms exchange the end effector through the quick change device, so that the function exchange of the two mechanical arms is realized.
Furthermore, the workpiece end effector is mounted on the mechanical arm through a quick-change device and used for realizing grabbing and assembling of the part to be assembled; the end effector is driven by a motor, and the grasping reliability is ensured by controlling the clamping force at the grasping part; the grabbing part is a flexible grabbing part, so that self-adaptive assembly is ensured, and meanwhile, the tail end of the grabbing part is provided with a force control device, so that the control and feedback of assembly force are realized.
Furthermore, the photogrammetry end effector is mounted on the mechanical arm through a quick-change device, and the mechanical arm drives a binocular measurement camera to stay at any point in the track of the mechanical arm to identify and measure the workpiece, so as to guide the mechanical arm to grab and automatically assemble the workpiece; meanwhile, the device is used for installing a binocular measurement camera and a controller, and a measurement data transmission interface is adaptive to an industrial quick-change interface.
Furthermore, the movable quick-change trolley is used for placing a workpiece end effector and a photogrammetric end effector, and is provided with a supporting block for supporting and positioning the end effector; when the end effector needs to be replaced in the assembly process of the double-mechanical-arm system or the end effector needs to be placed on the quick-change trolley after assembly is finished, the trolley reciprocates along the track, and the automatic replacement or placement of the end effector is completed at the corresponding position which can be picked up by the robot.
Further, the photogrammetry subsystem comprises a monocular measurement camera and a binocular measurement camera system; the monocular measurement camera is used for shooting and measuring the global scene three-dimensional space, the grabbing and assembling relation, and then processing the measurement data by combining the reference scale to obtain the accurate three-dimensional pose relation of the global scene, the grabbing and the assembling.
Further, the binocular measurement camera system is installed on the photogrammetry end effector, and the positions of the two cameras are fixed; and in the assembly process, the spatial attitude data of the workpiece is identified and calculated in real time by combining the position relation of the full scene real object.
Further, the three-dimensional reconstruction virtual display subsystem carries out synchronous virtual three-dimensional display on all scenes in the automatic assembly process of the double mechanical arms; calculating the distance between the workpiece and the mechanical arm and other scenes in real time to realize collision early warning; and displaying the position data of the workpiece and the six-direction force data of the tail end in real time. In the real-time display process, the three-dimensional scene is interactively operated in real time, and rotation, translation and switching of visual angles, view scaling, three-dimensional object display and hiding are supported; supporting multi-window and multi-view simultaneous display; coordinating time differences of different data sources; the method has the functions of storing and replaying three-dimensional scene basic data and measurement data.
Compared with the prior art, the invention has the advantages that:
(1) The invention provides a double-mechanical-arm automatic assembly system for a large-scale block optical component, which introduces a relatively mature industrial mechanical arm into the field of assembly of large-caliber block optical components. The defects of poor safety, reliability and precision consistency and low automation degree of a manual assembly mode of the traditional large-caliber block optical component are overcome.
(2) According to the invention, on the basis that the traditional mechanical arm only has an assembly function in the assembly of a single mechanical arm or two mechanical arms, an interactive matching mode of the two mechanical arms is added, one mechanical arm carries a binocular measuring camera in a photogrammetry subsystem through a quick change device to carry out real-time identification measurement on the whole assembly process, and the other mechanical arm carries a workpiece end effector through the quick change device to carry out grabbing and assembly of a workpiece according to measurement data obtained by the binocular camera. The two mechanical arms can exchange the end effector through the quick change device, so that the function exchange of the two mechanical arms is realized, and the requirements of wider and larger visual identification and assembly range are met.
(3) According to the invention, a three-dimensional reconstruction virtual display subsystem is added on the traditional assembly system, the three-dimensional reconstruction carries out real-time remote monitoring and collision early warning on the whole system, and emergency automatic processing is carried out on the early warning which possibly occurs. The problem of only rely on human eye to observe in traditional assembling process, can't carry out real time monitoring or because the angle problem can't observe the detail, cause the condition that the collision takes place that leaks and causes is solved.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a system layout diagram of the present invention.
Detailed Description
In order to better understand the technical solutions, the technical solutions of the present application are described in detail below with reference to the drawings and specific embodiments, and it should be understood that the specific features in the embodiments and examples of the present application are detailed descriptions of the technical solutions of the present application, and are not limitations of the technical solutions of the present application, and the technical features in the embodiments and examples of the present application may be combined with each other without conflict.
The invention provides a double-mechanical-arm automatic assembly system for a large-scale block optical component, which introduces a relatively mature industrial mechanical arm into the field of assembly of large-caliber block optical components. The defects of poor safety, reliability and precision consistency and low automation degree of a manual assembly mode of the traditional large-caliber block optical component are overcome.
The following describes in further detail an automatic assembly system with a dual robot arm for a large-scale blocked optical component according to an embodiment of the present application with reference to the drawings of the specification, and specific implementations may include (as shown in fig. 1 to 2): the system comprises a double-mechanical-arm subsystem, a photogrammetry subsystem, a central control subsystem and a three-dimensional reconstruction virtual display subsystem. And in the mode of interactive cooperation of the two mechanical arms, one mechanical arm carries a binocular measuring camera in the photogrammetry subsystem through a quick-change device to carry out real-time identification and measurement on the whole assembly process, and the other mechanical arm carries a workpiece end effector through the quick-change device to execute the grabbing and assembly of the workpiece according to the measurement data obtained by the binocular camera. The two mechanical arms can exchange the end effector through the quick change device, so that the function exchange of the two mechanical arms is realized, and the requirements of wider and larger visual identification and assembly range are met.
In the technical scheme provided by the embodiment of the invention, the following is specifically adopted:
as shown in fig. 1, an automatic assembly system with two robots for a large-scale blocked optical component comprises a double-robot subsystem, a photogrammetric subsystem, a three-dimensional reconstruction virtual display subsystem, and a central control subsystem. Wherein:
the dual robot subsystems are the main implementers for the automatic assembly of large-scale block-divided optical components. On one hand, the mechanical arm carries a binocular measuring camera in the photogrammetry subsystem through the quick-change device to carry out real-time identification and measurement on the whole assembly process, and on the other hand, the mechanical arm carries a workpiece end effector through the quick-change device to carry out grabbing and assembly of workpieces according to the measurement data obtained by the binocular camera.
The photogrammetry subsystem is used for establishing the relationship among the three-dimensional space of the whole assembly scene, the workpiece grabbing and the assembly pose and identifying and measuring the workpiece in real time in the assembly process.
The central control subsystem is used for comprehensively controlling the two mechanical arm subsystems and the photogrammetry subsystem to carry out cooperative work, and besides the communication and data interaction with hardware equipment in the subsystems, the central control subsystem also needs to transmit data such as the motion of the mechanical arms and force control to the three-dimensional reconstruction virtual display subsystem in real time.
The three-dimensional reconstruction virtual display subsystem is used for virtually and synchronously displaying the assembly process of the product, and driving the full scene three-dimensional model according to the data from the assembly robot subsystem and the photogrammetry subsystem according to the preset full scene element three-dimensional model, so that the real-time display of the assembly process and the measured data is realized.
As a further supplementary explanation:
as shown in fig. 2, the dual robot subsystems include: the system comprises two mechanical arms (2 sets of industrial robots), a workpiece end effector, a photogrammetric end effector, a movable quick-change trolley and a goods shelf. The binocular vision subsystem includes: monocular measurement camera systems, binocular measurement camera systems.
As shown in fig. 2, the two robots are disposed on two sides of the main frame of the large-caliber block optical assembly, and specific positions of the two robots, the mobile quick-change cart and the shelf on two sides of the main frame are determined according to the envelope of the large-caliber block optical assembly and the operating range of the two robots, so as to ensure that mutual positions do not interfere.
The double-mechanical-arm subsystem has the functions of off-line programming and on-line calibration, is used for off-line planning of the motion trail and programming of the robot, and is combined with on-site teaching to determine an assembly program.
As shown in fig. 2, the two robots use an interactive working mode, one robot carries a binocular measuring camera in the photogrammetry subsystem through the quick change device to perform real-time identification and measurement on the whole assembly process, and the other robot carries a workpiece end effector through the quick change device to perform workpiece grabbing and assembly according to the measurement data obtained by the binocular camera. The two mechanical arms can exchange the end effector through the quick change device, so that the function exchange of the two mechanical arms is realized, and the requirements of wider and larger visual identification and assembly range are met.
As shown in fig. 2, the workpiece end effector is mounted to the robot arm by a quick-change device for gripping and assembling the parts to be assembled. The end effector is driven by a motor, and the grasping reliability is ensured by controlling the clamping force at the grasping part; the grabbing part has certain flexibility to ensure self-adaptive assembly, and meanwhile, the tail end is provided with a force control device to realize control and feedback of assembly force.
As shown in fig. 2, the photogrammetry end effector is mounted on the mechanical arm through a quick-change device, and the mechanical arm drives the binocular measurement camera to stay at any point in the track of the mechanical arm to identify and measure the workpiece, so as to guide the mechanical arm to grab and automatically assemble the workpiece. Meanwhile, the device is used for installing a binocular measurement camera and a controller, and a measurement data transmission interface needs to adapt to an industrial quick-change interface.
As shown in fig. 2, the mobile quick-change cart is used for placing the end effector of the workpiece and the end effector of the photogrammetry, and is provided with a supporting block for supporting and positioning the end effector. When the end effector needs to be replaced in the assembly process of the double-mechanical-arm system or the end effector needs to be placed on the quick-change trolley after assembly is finished, the trolley reciprocates along the track, and the automatic replacement or placement of the end effector is completed at the corresponding position which can be picked up by the robot.
As shown in fig. 2, the shelf is used for placing the workpiece to be loaded, the shelf is placed within the reach range of the robot without blocking the track of the robot, and the shelf is provided with a supporting block for placing and positioning the workpiece.
And shooting and measuring the three-dimensional space, the grabbing and assembling relation of the overall scene by a monocular measuring camera in the photogrammetry subsystem, and then processing the measured data by combining with the reference scale to obtain the accurate three-dimensional pose relation of the overall scene, the grabbing and the assembling.
As shown in fig. 2, the binocular measurement cameras and the binocular measurement controller in the photogrammetry subsystem are mounted on the photogrammetry end effector, and the positions of the two cameras are fixed. And in the assembly process, the spatial attitude data of the workpiece is identified and calculated in real time by combining the position relation of the full scene real object.
The central control subsystem performs cooperative control and integrated operation on the double mechanical arm subsystem, the photogrammetry subsystem and the three-dimensional reconstruction virtual display subsystem. Can provide three operation modes of manual operation, key type distribution step operation and one-key automatic assembly for arbitrary selection.
The three-dimensional reconstruction virtual display subsystem carries out synchronous virtual three-dimensional display on all scenes in the automatic assembly process of the double mechanical arms; calculating the distance between the workpiece and the mechanical arm and other scenes in real time to realize collision early warning; and displaying the position data of the workpiece and the six-direction force data of the tail end in real time. In the real-time display process, the three-dimensional scene real-time interactive operation is realized, and the rotation, translation and switching of visual angles, view scaling, three-dimensional object display and hiding are supported. Supporting multi-window and multi-view simultaneous display; the display is smooth and accurate, and no clamping stagnation exists; coordinating the time differences of different data sources. The method has the functions of storing and replaying three-dimensional scene basic data and measurement data.
According to the invention, a three-dimensional reconstruction virtual display subsystem is added on the traditional assembly system, the three-dimensional reconstruction carries out real-time remote monitoring and collision early warning on the whole system, and emergency automatic processing is carried out on the early warning which possibly occurs. The problem of only rely on human eye to observe in traditional assembling process, can't carry out real time monitoring or because the angle problem can't observe the detail, cause the condition that the collision takes place that leaks and causes is solved.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is intended to include such modifications and variations as well.
Those skilled in the art will appreciate that those matters not described in detail in the present specification are well known in the art.

Claims (9)

1. A double-mechanical-arm automatic assembly system for a large-scale blocked optical component is characterized in that: the system comprises a double-mechanical-arm subsystem, a photogrammetry subsystem, a central control subsystem and a three-dimensional reconstruction virtual display subsystem;
the two mechanical arms in the two mechanical arm subsystems are two mechanical arms with interchangeable functions, on one hand, a quick-change device is used for carrying a binocular measuring camera in the photogrammetry subsystem to carry out real-time identification and measurement on the whole assembly process, and on the other hand, the mechanical arms carry a workpiece end effector to carry out grabbing and assembly of workpieces according to measurement data obtained by the binocular camera;
the photogrammetry subsystem is a combination mode of a monocular measurement camera and a binocular measurement camera and is used for establishing three-dimensional space of an assembly scene, grabbing a workpiece and assembling a pose relation and identifying and measuring the workpiece in real time in the assembly process; the central control subsystem is used for controlling the two mechanical arm subsystems and the photogrammetry subsystem to carry out cooperative work, and besides the communication and data interaction with hardware equipment in the two mechanical arm subsystems and the photogrammetry subsystem, the motion and force control data of the mechanical arms are also required to be transmitted to the three-dimensional reconstruction virtual display subsystem in real time;
the three-dimensional reconstruction virtual display subsystem is used for virtually and synchronously displaying the assembly process of the product, and driving the full scene three-dimensional model according to the data from the double mechanical arm subsystem and the photogrammetry subsystem according to the preset full scene element three-dimensional model, so that the real-time display of the assembly process and the measured data is realized.
2. The system of claim 1, wherein the system comprises: the double-mechanical-arm subsystem comprises double mechanical arms, a workpiece end effector, a photogrammetric end effector, a movable quick-change trolley and a goods shelf; the two mechanical arms are positioned on two sides of the main frame of the blocking optical component, and the specific positions of the two mechanical arms, the movable quick-change trolley and the goods shelf on two sides of the main frame are determined according to the envelope of the blocking optical component and the operating range of the two mechanical arms, so that the mutual positions are ensured not to interfere.
3. The system of claim 2, wherein the system comprises: one mechanical arm of the two mechanical arms carries a binocular measuring camera in a photogrammetry subsystem through a quick change device to carry out real-time identification and measurement on the whole assembly process, and the other mechanical arm carries a workpiece end effector through the quick change device to carry out grabbing and assembly of a workpiece according to measurement data obtained by the binocular camera; the two mechanical arms exchange the end effector through the quick change device, so that the function exchange of the two mechanical arms is realized.
4. The system of claim 2, wherein the system comprises: the workpiece end effector is mounted on the mechanical arm through a quick-change device and used for realizing the grabbing and assembling of parts to be assembled; the end effector is driven by a motor, and the grasping reliability is ensured by controlling the clamping force at the grasping part; the grabbing part is a flexible grabbing component, so that self-adaptive grabbing is ensured, and meanwhile, the tail end of the grabbing part is provided with a force control device, so that control and feedback of assembly force are realized.
5. The system of claim 2, wherein the system comprises: the photogrammetry end effector is mounted on the mechanical arm through a quick-change device, and the mechanical arm drives the binocular measurement camera to stay at any point in the track of the mechanical arm to identify and measure the workpiece, so as to guide the mechanical arm to grab and automatically assemble the workpiece; meanwhile, the device is used for installing a binocular measurement camera and a controller, and a measurement data transmission interface is adaptive to an industrial quick-change interface.
6. The system of claim 2, wherein the system comprises: the movable quick-change trolley is used for placing a workpiece end effector and a photogrammetric end effector, and is provided with a supporting block for supporting and positioning the end effector; when the end effector of the double-mechanical-arm system needs to be replaced in the assembling process or the end effector needs to be placed on a quick-change trolley after the assembling is finished, the trolley reciprocates along the track, and the automatic replacement or placement of the end effector is completed at the corresponding position which can be picked up by the robot.
7. The system of claim 1, wherein the system comprises: and the monocular measurement camera in the photogrammetry subsystem is used for shooting and measuring the three-dimensional space, the grabbing and assembling relation of the overall scene, and then processing the measurement data by combining with the reference scale to obtain the accurate three-dimensional pose relation of the overall scene, the grabbing and the assembling.
8. The system of claim 7, wherein the system comprises: the binocular measuring camera is installed on the photogrammetry end effector, and the position of the binocular measuring camera is fixed; and in the assembly process, the spatial attitude data of the workpiece is identified and calculated in real time by combining the position relation of the full scene real object.
9. The system of claim 1, wherein the system comprises: the three-dimensional reconstruction virtual display subsystem carries out synchronous virtual three-dimensional display on all scenes in the automatic assembly process of the double mechanical arms; calculating the distance between the workpiece and an assembly scene in real time to realize collision early warning; displaying workpiece position data and tail end six-direction force data in real time; in the real-time display process, the three-dimensional scene is interactively operated in real time, and rotation, translation and switching of visual angles, view scaling, three-dimensional object display and hiding are supported; supporting multi-window and multi-view simultaneous display; coordinating time differences of different data sources; the method has the functions of storing and replaying three-dimensional scene basic data and measurement data.
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